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A good diagnostic for the drivetrain beyond the transmission is to park the car in neutral and set the parking brake. Then reach under the car (or park on ramps if necessary) and try turning the driveshaft back and forth by hand.
This evaluates the wear in your differential and to some extent the half-axles. I had about 60 degrees of free turn before replacing the differential on the 1982 300D. A gear yoke inside the differential was severely worn.
Ken300D
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1982 300D at 351K miles
1984 300SD at 217K miles
1987 300D at 370K miles
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